autopas::utils::quaternion Namespace Reference

Array utils specifically for handling quaternions. More...

Functions
std::vector< std::array< double, 3 > >	rotateVectorOfPositions (const std::array< double, 4 > &q, const std::vector< std::array< double, 3 > > &positionVector)
	Rotates a std::vector of 3D positions.
std::array< double, 3 >	rotatePosition (const std::array< double, 4 > &q, const std::array< double, 3 > &pos)
	Rotates a single 3D position.
std::array< double, 3 >	rotatePositionBackwards (const std::array< double, 4 > &q, const std::array< double, 3 > &pos)
	Rotates a single 3D position backwards.
std::array< double, 4 >	qMul (const std::array< double, 4 > &q1, const std::array< double, 4 > &q2)
	Quaternion multiplication.
std::array< double, 4 >	qMul (const std::array< double, 4 > &q, const std::array< double, 3 > &v)
	Quaternion multiplication (converting v into a quaternion (0,v))
std::array< double, 4 >	qMul (const std::array< double, 3 > &v, const std::array< double, 4 > &q)
	Quaternion multiplication (converting v into a quaternion (0,v))
std::array< double, 4 >	qConjugate (const std::array< double, 4 > &q)
	Quaternion conjugation.
std::array< double, 3 >	convertQuaternionTo3DVec (const std::array< double, 4 > &q)
	Convert quaternion to 3d-vec.
std::array< double, 4 >	qMirror (const std::array< double, 4 > &q, const int &dimensionNormalToMirror)
	Calculate the quaternion representing the same rotation, but mirrored.

Detailed Description

Array utils specifically for handling quaternions.

Function Documentation

convertQuaternionTo3DVec()

std::array< double, 3 > autopas::utils::quaternion::convertQuaternionTo3DVec

(

const std::array< double, 4 > &

q

)

Convert quaternion to 3d-vec.

Parameters

q	quaternion

Returns

Quaternion without scalar part (i.e. 0th element)

qConjugate()

std::array< double, 4 > autopas::utils::quaternion::qConjugate

(

const std::array< double, 4 > &

q

)

Quaternion conjugation.

Parameters

q	quaternion

Returns

conjugated quaternion

qMirror()

std::array< double, 4 > autopas::utils::quaternion::qMirror	(	const std::array< double, 4 > &	q,
		const int &	dimensionNormalToMirror
	)

Calculate the quaternion representing the same rotation, but mirrored.

Parameters

q	quaternion to be mirrored
dimensionNormalToMirror	dimension normal to mirror plane

Returns

mirrored quaternion.

qMul() [1/3]

std::array< double, 4 > autopas::utils::quaternion::qMul	(	const std::array< double, 3 > &	v,
		const std::array< double, 4 > &	q
	)

Quaternion multiplication (converting v into a quaternion (0,v))

Parameters

v	3D-vector
q	quaternion

Returns

(0,v) times q

qMul() [2/3]

std::array< double, 4 > autopas::utils::quaternion::qMul	(	const std::array< double, 4 > &	q,
		const std::array< double, 3 > &	v
	)

Quaternion multiplication (converting v into a quaternion (0,v))

Parameters

q	quaternion
v	3D-vector

Returns

q times (0,v)

qMul() [3/3]

std::array< double, 4 > autopas::utils::quaternion::qMul	(	const std::array< double, 4 > &	q1,
		const std::array< double, 4 > &	q2
	)

Quaternion multiplication.

See Hamiltonian Product: https://en.wikipedia.org/wiki/Quaternion#Hamilton_product.

Parameters

q1	quaternion 1
q2	quaternion 2

Returns

q1 times q2

rotatePosition()

std::array< double, 3 > autopas::utils::quaternion::rotatePosition	(	const std::array< double, 4 > &	q,
		const std::array< double, 3 > &	pos
	)

Rotates a single 3D position.

Parameters

q	Quaternion defining rotation
pos	array of 3 doubles, defining position

Returns

rotated position

rotatePositionBackwards()

std::array< double, 3 > autopas::utils::quaternion::rotatePositionBackwards	(	const std::array< double, 4 > &	q,
		const std::array< double, 3 > &	pos
	)

Rotates a single 3D position backwards.

Parameters

q	Quaternion defining rotation
pos	array of 3 doubles, defining position

Returns

rotated position

rotateVectorOfPositions()

std::vector< std::array< double, 3 > > autopas::utils::quaternion::rotateVectorOfPositions	(	const std::array< double, 4 > &	q,
		const std::vector< std::array< double, 3 > > &	positionVector
	)

Rotates a std::vector of 3D positions.

Parameters

q	Quaternion defining rotation
positionVector	std::vector of arrays of 3 doubles, defining positions

Returns

rotated positions

Note

we could instead pre-compute the rotation matrix -